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* Author: TKruse
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#ifndef TRAJECTORY_SEARCH_H_
#define TRAJECTORY_SEARCH_H_

#include <base_local_planner/trajectory.h>

namespace base_local_planner
{

/** 作为一个纯虚类，提供寻找局部轨迹的模块接口
* @class TrajectorySearch
* @brief Interface for modules finding a trajectory to use for navigation commands next
*/
class TrajectorySearch
{
public:
    /**
     * searches the space of allowed trajectory and
     * returns one considered the optimal given the
     * constraints of the particular search.
     * 在给定的空间里搜寻局部路径，在满足一些限制情况下，返回最优的一个
     * @param traj The container to write the result to  存储计算结果的容器
     * @param all_explored pass NULL or a container to collect all trajectories for debugging (has a penalty)  传递null或者搜集了所以路径的容器，用来debug(有一定惩罚)
     */
    virtual bool findBestTrajectory(Trajectory &traj, std::vector<Trajectory> *all_explored) = 0;

    virtual ~TrajectorySearch() {}

protected:
    TrajectorySearch() {}
};


}

#endif /* TRAJECTORY_SEARCH_H_ */
